Existing water hazard detection methods usually fail when the features of water surfaces are greatly changed by the surroundings, e.g., by a change in illumination. This paper proposes a novel algorithm to robustly de...Existing water hazard detection methods usually fail when the features of water surfaces are greatly changed by the surroundings, e.g., by a change in illumination. This paper proposes a novel algorithm to robustly detect different kinds of water hazards for autonomous navigation. Our algorithm combines traditional machine learning and image segmentation and uses only digital cameras, which are usually affordable, as the visual sensors. Active learning is used for automatically dealing with problems caused by the selection, labeling and classification of large numbers of training sets. Mean-shift based image segmentation is used to refine the final classification. Our experimental results show that our new algorithm can accurately detect not only ‘common’ water hazards, which usually have the features of both high brightness and low texture, but also ‘special’ water hazards that may have lots of ripples or low brightness.展开更多
基金Project supported by the National Natural Science Foundation of China (Nos. 60505017 and 60534070)the Natural Science Foundation of Zhejiang Province, China (No. 2005C14008)
文摘Existing water hazard detection methods usually fail when the features of water surfaces are greatly changed by the surroundings, e.g., by a change in illumination. This paper proposes a novel algorithm to robustly detect different kinds of water hazards for autonomous navigation. Our algorithm combines traditional machine learning and image segmentation and uses only digital cameras, which are usually affordable, as the visual sensors. Active learning is used for automatically dealing with problems caused by the selection, labeling and classification of large numbers of training sets. Mean-shift based image segmentation is used to refine the final classification. Our experimental results show that our new algorithm can accurately detect not only ‘common’ water hazards, which usually have the features of both high brightness and low texture, but also ‘special’ water hazards that may have lots of ripples or low brightness.
